CN106203672B - Charging pile layout method for unmanned aerial vehicle flying along mission air line - Google Patents
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Abstract
The invention discloses a charging pile layout method for an unmanned aerial vehicle flying along a mission air line. On the mission route, a certain number of road mark points are set according to the rule set by the invention, and adjacent road mark points are connected by straight lines to form a multi-section broken line from the starting point to the end point. Then, the flying parameters of the unmanned aerial vehicle and the quantity and parameters of the charging piles are combined, and the distribution planning of the charging piles is carried out on the multi-section broken line. The invention provides a feasible charging pile layout method for an unmanned aerial vehicle to execute tasks (such as power line inspection, security monitoring, border patrol, delivery express delivery, agriculture and forestry plant protection and the like) on any designated route. The method is simple and has good universality, and the cruising time of the unmanned aerial vehicle in the task area can be effectively prolonged through the charging pile network.
Description
Technical Field
The invention relates to a charging pile layout method for unmanned aerial vehicles flying along a designated mission air line.
Background
With the rapid development of control, communication, electronics and microelectronics technologies, the development of Unmanned Aerial Vehicles (UAVs) has made great progress. The total population of China is ranked first (13.68 billion), the territorial area is ranked third (963.4057 kilometers squared) in the world, and the territorial features are high in the west and low in the east and are distributed in a ladder shape. The mountain land and plateau area are wide. The distance between things is about 5000 kilometers, the continental coastline is as long as 18000 kilometers, and the combination of air temperature and precipitation is various. Due to the characteristics of geography in China, border line patrol and industry (electric power, railways, forestry and logistics) patrol become tasks which need a large amount of manpower and material resources. At present, boundary line patrol and industry patrol in China still adopt a traditional manual patrol mode, and the mode has high cost and low efficiency and is easy to miss detection. Therefore, advanced techniques are urgently needed to change this phenomenon. The unmanned aerial vehicle is used for replacing manual inspection, and a great trend is formed.
The unmanned aerial vehicle is an unmanned aerial vehicle, which is an unmanned aerial vehicle controlled by radio remote control equipment and a self-contained program control device. Compare manned aircraft, unmanned aerial vehicle has outstanding advantages such as application cost is low, zero personnel's loss. Since the 90 s of the 20 th century, various unmanned aerial vehicles have been developed rapidly and the performance of the unmanned aerial vehicles has been improved increasingly due to promotion of military requirements, support of advanced technologies and use of new materials, and the unmanned aerial vehicles have become important choices for executing various characters in the air in the large country.
Endurance is an important performance parameter of an unmanned aerial vehicle. Like piloted aircraft, the endurance of unmanned aerial vehicles is also limited by the onboard energy (fuel or battery). Especially small/miniature tactical-class drones (which may be referred to as portable drones) have long been their apparent shortboard for endurance due to their small size, light weight, and limited carrying capacity. For example, the micro-star unmanned aerial vehicle jointly developed by Sanders, lomab and GE has a wing span of 15cm, and even if the mass of the used lithium battery accounts for 52% of the total mass (the total mass is 85g, and the mass of the lithium battery is 44.5g), the flight distance can only reach 16km, and the endurance time is only 20 min.
How to improve the endurance time of the unmanned aerial vehicle to enable the unmanned aerial vehicle to execute tasks in a long-distance and uninterrupted manner becomes an important direction in the research field of the current unmanned aerial vehicle. At present, the technology for solving the problem of unmanned aerial vehicle endurance adopted by various countries in the world mainly comprises the following steps:
1. unmanned aerial vehicle air refueling
Through the development of many years, the air refueling technology is widely applied to piloted airplanes, and on the basis, all military and strong countries develop the air refueling technology research on unmanned planes. The world eagle unmanned aerial vehicle aerial autonomous fueling test was first conducted in the space above the pacific in the united states on day 10, 23 of 2012. According to the information, after the global eagle unmanned aerial vehicle is refueled in the air, the dead time can be prolonged to 160 h. The air refueling capability can effectively reduce the dependence of the unmanned aerial vehicle on the ground base, so that the unmanned aerial vehicle can more easily execute global arrival/monitoring tasks, and an important weight is added for capturing the air control right in future war. It is clear that the suitable target for airborne fueling is a large strategic drone performing high altitude, high speed, remote missions, and that other solutions are sought for small and multi-use electrically powered portable drones.
2. By using novel batteries
One of the key technologies for achieving the goals of long-endurance and long-range flight of portable unmanned aerial vehicles is to use high-energy-density batteries, such as fuel cells. According to the report of a Russian television station website in 2013, 5 months and 12 days, an ion Tiger (lon Tiger) unmanned aerial vehicle developed by the Navy of the United states adopts a new low-temperature storage tank to store night hydrogen fuel to charge a fuel cell of the ion Tiger unmanned aerial vehicle, drives a motor to operate, and achieves continuous flight for more than 48 hours. However, the energy density of the battery can not be infinitely increased, and the ion tiger has to fall to supplement energy after the onboard battery is exhausted. The nuclear battery is applied to satellites and cardiac pacemakers at present, and with the development of technology, the volume of the nuclear battery is continuously reduced, and the cost of the nuclear battery is also continuously reduced. However, even if there are no problems in nuclear power technology, there must be problems in politics. But no country currently allows nuclear powered drones to fly.
3. Using solar energy for power supply
Using solar energy seems to be a good way, in 2010, uk and wind-gauge ultra-light solar drones created records of 14 days of continuous flight. Although the solar power unmanned aerial vehicle can realize the flight in high altitude long voyage, because the area of the solar cell panel is limited on the unmanned aerial vehicle, the power provided by solar energy is small, the load of the existing solar power unmanned aerial vehicle is generally small, and the execution task is single. In addition, due to the intermittent nature of sunlight, the solar power unmanned aerial vehicle can only fly by means of energy storage equipment on the unmanned aerial vehicle at night, and the energy storage equipment usually accounts for 30% -40% of the total weight of the whole unmanned aerial vehicle, so that the further development of the unmanned aerial vehicle during high-altitude long voyage is limited. Visible sunlight is not an ideal energy source.
4. Unmanned aerial vehicle remote laser charging technology
At present, laser energy transmission becomes a hotspot of energy supply of the unmanned aerial vehicle. Compared with solar energy, laser charging has the following advantages: at first, the irradiation time and the angle of laser can be artificially controlled, can provide 24h incessant electric power for unmanned aerial vehicle like this, and incident angle through control laser moreover can guarantee solar cell output maximum power all the time to the energy storage equipment on the machine that significantly reduces, corresponding unmanned aerial vehicle's payload will increase, will increase unmanned aerial vehicle's effectiveness of fighting undoubtedly. Secondly, the illumination intensity of the laser is 500 times of that of the sunlight, and for a solar cell (the solar cell can bear 1000 times of illumination intensity at present), the stronger the illumination, the higher the output power and the higher the photoelectric conversion efficiency. Under the influence of other factors, the solar cell outputs 1 time more electric energy under the irradiation of laser than under the irradiation of sunlight. In addition, when the laser wavelength is matched with the band gap width of the solar cell material, the photoelectric conversion efficiency is obviously higher than that under sunlight.
However, the laser charging technology still has unsolved technical difficulties:
automatic tracking aiming technical problem. In the laser charging process, since the area of the solar cell panel at the receiving end is small, the power at the transmitting end is required to reach the solar cell panel, and accurate alignment is required. However, when beacon light for alignment is transmitted in the atmosphere, the light spot may drift due to the flickering light of the atmosphere, which causes tracking errors.
And (4) transmission safety problem. Because the laser power is large, other objects are easily damaged in the transmission process, and therefore, how to ensure the transmission safety is a problem to be researched.
5. Improve the aerodynamic parameters (body material, wing area, wing aspect ratio, wing tip ratio, wing relative thickness) of the unmanned plane
Besides the above method to improve the cruising ability of the unmanned aerial vehicle, people now research more and more by optimizing the pneumatic parameters of the unmanned aerial vehicle: the method comprises the steps of improving the body material of the airplane, optimizing a series of parameters such as the wing area, the wing aspect ratio, the wing tip ratio, the wing relative thickness and the like to improve the flight efficiency of the airplane and optimize the energy utilization efficiency of the airplane. For example, the Lioufu and the Ma Xiaoping of the university of northwest industry adopt a multi-target genetic algorithm to carry out multi-target optimization on the overall parameters of the unmanned aerial vehicle, so that the optimal overall parameter combination for improving the endurance performance of the unmanned aerial vehicle is obtained. However, this method has limitations in that: only the endurance time of the unmanned aerial vehicle can be optimized, and the problem that the unmanned aerial vehicle can continuously execute flight tasks during long endurance is solved fundamentally.
The terms used in the present invention are explained as follows:
unmanned aerial vehicle: an unmanned aircraft.
Disclosure of Invention
The invention aims to solve the technical problem of providing a charging pile layout method for unmanned aerial vehicles flying along a designated task route aiming at the defects of the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a charging pile layout method for unmanned aerial vehicles flying along a designated mission air route comprises the following steps:
(1) and establishing a rectangular coordinate system, placing the task route in a first quadrant of the coordinate system, and then setting a series of landmark points from the initial position to the terminal point of the route. And (3) solving the coordinates of each landmark point and connecting adjacent landmark points to form a multi-section broken line from the starting point to the end point, and solving the equation of each section of broken line.
According to the actual situation, the mission air route of the unmanned aerial vehicle is discussed in two situations.
① when the unmanned plane route can not be expressed by function, it needs to manually pick up the point on the spot to realize the setting of the landmark point on a task route, the concrete method is that the pick-up personnel uses a hand-held GPS receiver to traverse the whole task route, the GPS coordinate of the point is collected and stored at the place needing to pick up the point, a series of landmark points are collected after the task route is traversed, wherein the principle of landmark point collection is:
(a) according to the accuracy E of GPSGPSTo make a minimum interval I for collecting road mark pointsGPS＝EGPS。
(b) Starting from the starting point of the mission route, collecting the minimum interval I according to the landmark pointsGPSAnd sequentially collecting landmark points along the task route until the end point of the task route.
(c) And after the acquisition of the landmark points is finished, sequentially connecting the adjacent landmark points from the starting point of the mission route.
After all the landmark points P are collected1，P2，P3，…，PnAfter that, the air conditioner is started to work,determining all line segments P by coordinates of each point1P2，P2P3，P3P4，…，Pn-1PnThe equation of the straight line of (c).
② where the mission profile of the drone can be expressed using a function, i.e., the mission profile is a piecewise function consisting of x ═ f (y) and y ═ f (x), the set of set waypoints is divided into two cases:
in the first case: for the expression y ═ f (x), x ∈ [ a ]1，b1]，y∈[c1，d1]Setting delta x as a point taking interval on the mission route, namely a projection interval on an x axis, then
The number of points taken on the route; solving n through a task route equation and a point taking interval1Coordinates of individual landmark points
From a starting point
To the end point
Connecting two adjacent points with a straight line to form n1-1 connected straight line segment, solving the linear equation of all straight line segments; the last waypoint is taken as (b)1，f(b1))。
In the second case: for the expression x ═ f (y), x ∈ [ c ∈ [, [ c ], [ y ]2，d2]，y∈[a2，b2]Setting delta y as a point taking interval on the task route, namely a projection interval on a y axis, then
For on the routeThe number of points taken; solving n through a task route equation and a point taking interval2Coordinates of individual landmark points
From a starting point
To the end point
Connecting two adjacent points with a straight line to form n2-1 connected line segment, solving the linear equation of all line segments; the last waypoint is taken as (f (b)2)，b2)。
The total number of the navigation circuit points is n ═ n1+n2。
(2) And sequentially calculating the lengths of all the line segments, and adding the lengths of all the line segments to obtain the total length SumL of all the line segments on the routing inspection line.
(3) According to the unmanned aerial vehicle parameters (cruising speed V) provided by the userpDuration of flight Tp) Calculating the maximum range of the unmanned aerial vehicle: sP＝VPTP. According to SpCalculating the number m of the unmanned aerial vehicle staying on the mission air line, wherein the m is the number of the charging piles required to be arranged (wherein [ [ phi ] ]]For the rounding operator,% is the modulo operator).
(4) And (3) making a line segment L with the length of SumL, and equivalently replacing the plurality of broken line segments obtained in the step (1) with the complete line segment L so as to achieve the effect of straightening the broken line segments connected end to end. And (3) calculating the distance partition (j) between the corresponding positions of n division points (landmark points) of adjacent broken line segments on the line segment L and the starting point of the line segment L by using the lengths of the line segments obtained in the step (2) through the following formula, so that the coordinates of the charging pile arrangement points on the broken line segments can be calculated conveniently by using the line segments L.
Wherein j is 1, 2, …, n.
(5) Simulating the unmanned aerial vehicle to fly to the terminal point along the straight line segment from the starting point, and assuming that the unmanned aerial vehicle flies according to the maximum range every time, the distance S flown by the unmanned aerial vehicle when the unmanned aerial vehicle stops at the r-th timerIs calculated by the formula Sr＝rSPAnd r is 1, 2, …, m. Will SrMapping on the line segment L, traversing partition (j), if k is more than or equal to 1 and less than or equal to n-1, satisfying that partition (k) is less than or equal to SrPart (k +1) is less than or equal to, the r-th charging pile is judged to be on the straight line PkPk+1On and from Pk(xk，yk) Is Dis [ S ] distancer，Pk]＝Sr-partition (k), then charge pile r coordinate Cr(xcr，ycr) The calculation formula of (2) is as follows:
wherein a and b are straight lines PkPk+1The equation ax + by + c of (1) is a coefficient term in 0.
(6) And (5) repeating the step until the coordinates of the m charging piles are calculated.
Compared with the prior art, the invention has the beneficial effects that: the invention solves the problem of endurance of the unmanned aerial vehicle by adopting a charging pile net arrangement mode. The method is easy to implement. The invention carries out mathematical modeling on the research of the network arrangement of the charging pile according to the characteristics (designated route, designated node and designated area) of each task executed by the unmanned aerial vehicle, establishes a rectangular coordinate system and carries out the mathematical modeling according to the flight parameters (cruising speed V) of the unmanned aerial vehiclePTime of flight TP) And parameters of the charging pile (once full of the current unmanned aerial vehicle battery station)Required time) to calculate the distribution coordinates of the charging piles, and realizing the distribution of the charging piles. The invention provides an effective charging pile layout method for the unmanned aerial vehicle flying on any designated task air route, the method is simple in algorithm and good in universality, the endurance time of the unmanned aerial vehicle in a task area can be prolonged, and the unmanned aerial vehicle can fly continuously.
Drawings
Fig. 1 is a schematic diagram of a traversal mission route of a function y ═ f (x);
fig. 2 is a schematic diagram of the road marking point of the task route to be traversed when the function y is f (x);
fig. 3 is a schematic diagram of the straight connection of waypoints when the function y ═ f (x);
FIG. 4 is a schematic diagram of the segment L of the designated mission route line segment when the function y is f (x);
fig. 5 is a schematic diagram of a charging pile layout of an unmanned aerial vehicle flying along a designated mission route when a function y is f (x);
fig. 6 is a schematic diagram of a traversal mission route of the function x ═ f (y);
fig. 7 is a schematic diagram of the road marking point of the task route to be traversed when the function x is f (y);
fig. 8 is a schematic diagram of the straight connection of waypoints at the time of the function x ═ f (y);
fig. 9 is a schematic diagram of the division point L of the designated mission route line segment when the function x is f (y);
fig. 10 is a schematic diagram of a charging pile layout of the drone flying along a designated mission route when the function y is f (x).
Detailed Description
For the charging pile layout of the unmanned aerial vehicle flying along the designated mission air route, the process comprises the following 5 steps: firstly, a designated task route is placed in a first quadrant of a coordinate system, a series of landmark points on the task route are set from an initial position to a terminal point, adjacent landmark points are connected by straight lines, and a straight line equation of the adjacent landmark points is obtained by adopting a general formula ax + by + c of the straight line equation as 0; secondly, sequentially calculating the lengths of the two adjacent line segments by adopting a distance formula between two points of a rectangular coordinate system, and adding the lengths of all the line segments to calculate the total length of the line segment; third, according to the given unmanned plane parameters (cruise speed V)PUser setting of single flight time TP) Calculating the maximum range of the unmanned aerial vehicle, and calculating the number m of times of the unmanned aerial vehicle staying on the total line through a related formula; fourthly, mapping the total length of the line segment calculated in the second step to a first quadrant of another rectangular coordinate system, constructing a line segment L with the length of SumL, and calculating n positions of n landmark points on the line segment by using a distance formula of two adjacent points; fifthly, simulating the unmanned aerial vehicle to fly to the terminal point along the straight line segment from the starting point, and calculating the coordinates of the m charging piles by using the formula in the patent.
And establishing a rectangular coordinate system, and placing the task route in a first quadrant of the coordinate system.
The specific implementation steps of the mission route with the function expression of y ═ f (x) are as follows:
(1) assuming that the functional expression of the mission route is y ═ x cos (2 π x/50), x ∈ [0, 100], y ∈ [ -75.4173, 100], and taking a point interval Δ x ═ 5, 21 waypoints are set according to the interval Δ x from the starting position to the end point of the route. And (3) solving the coordinates of each landmark point and connecting adjacent landmark points to form a multi-section broken line from the starting point to the end point, and solving the equation of each section of broken line.
(2) Starting from the starting point, using the distance formula between two points in the rectangular coordinate system
Calculating the line segment P in turn1P2，P2P3，…，P20P21Length (1, 2), Length (2, 3), …, Length (20, 21). And adding the lengths of the 20 line segments to obtain the total length of the line segments on the mission route.
(3) According to the unmanned aerial vehicle parameters (cruising speed V) provided by the userPDuration T ═ 3P8), calculating the maximum range of the unmanned plane: sP＝VPTP＝24。
By the formula
And (3) calculating the number 19 of the unmanned aerial vehicle needing to stay on the line, wherein 19 is the number of the charging piles required to be set on the mission route (wherein [ ] is an operator of rounding, and the% is a modulus operator).
(4) And (3) drawing a line segment L with the length of SumL in the first quadrant of a new coordinate system, and equivalently replacing the multiple sections of broken line segments obtained in the step (1) by using the complete line segment L so as to achieve the effect of straightening the broken line segments connected end to end. And (3) calculating the distance partition (j) between the corresponding positions of n division points (landmark points) of adjacent broken line segments on the line segment L and the starting point of the line segment L by using the lengths of the line segments obtained in the step (2) through the following formula, so that the coordinates of the charging pile arrangement points on the broken line segments can be calculated conveniently by using the line segments L.
Wherein j is 1, 2, …, 21. The schematic diagram of the division point is shown in fig. 4.
(5) Simulating that the unmanned aerial vehicle flies from the starting point to the end point along the straight line segment, and then the unmanned aerial vehicle flies by the distance S when flying the ith stopiIs calculated by the formula Si＝iSP(i ═ 1, 2.., 19). Will SiMapping on the segment L, traversing partition (j) (j is 1, 2, …, 21), if there is 1 ≦ k ≦ 20, satisfying
Partition(k)≤Si≤Partition(k+1)
It can be determined that the ith charging pile C is chargedi(xci，yci) On a straight line PkPk+1On and from Pk(xk，yk) A distance of
Dis[Si，Pk]＝Si-Partition(k)
Then charge pile i coordinate Ci(xci，yci) Is calculated by the formula
Wherein a and b are straight lines PkPk+1The equation ax + by + c of (1) is a coefficient term in 0.
And (5) circularly traversing i to 1, 2, … and 19 to obtain 19 charging piles C1(xc1，yc1)，C2(xc2，yc2)，…， C19(xc19，yc19) The coordinates of (a). A schematic diagram of the coordinate points is shown in fig. 5.
(6) According to the time T required for charging the current unmanned aerial vehicle batterycAnd (3) combining the total length SumL of the mission route calculated in the step (2) and the number m of the stay times of the unmanned aerial vehicle on the charging pile calculated in the step (3), utilizing a formula
Tsum＝mTc+SumL/VP
Calculating the total time T required by the unmanned aerial vehicle to inspect the primary linesum。
The specific implementation steps of the mission route with the function expression of x ═ f (y) are as follows:
(1) assuming that the functional expression of the mission route is x ═ 50cos (2 π y/50)/π, x ∈ [ -50, 50], y ∈ [0, 100], and the point-taking interval Δ y is 5, from the starting position to the end of the route, 21 waypoints are set according to the interval Δ y. And (3) solving the coordinates of each landmark point and connecting adjacent landmark points to form a multi-section broken line from the starting point to the end point, and solving the equation of each section of broken line.
(2) Starting from the starting point, using the distance formula between two points in the rectangular coordinate system
Calculating line segments in sequenceP1P2，P2P3，…，P20P21Length (1, 2), Length (2, 3), …, Length (20, 21). And adding the lengths of the 20 line segments to obtain the total length of the line segments on the mission route.
(3) According to the unmanned aerial vehicle parameters (cruising speed V) provided by the userPDuration T ═ 3P8), calculating the maximum range of the unmanned plane: sP＝VPTP＝24。
By the formula
And (4) calculating the number 18 of the unmanned aerial vehicle needing to stay on the line, wherein the number 18 is the number of the charging piles required to be set on the mission route (wherein [ ] is an operator of rounding, and the% is a modulus operator).
(4) And (3) drawing a line segment L with the length of SumL in the first quadrant of a new coordinate system, and equivalently replacing the multiple sections of broken line segments obtained in the step (1) by using the complete line segment L so as to achieve the effect of straightening the broken line segments connected end to end. And (3) calculating the distance partition (j) between the corresponding positions of n division points (landmark points) of adjacent broken line segments on the line segment L and the starting point of the line segment L by using the lengths of the line segments obtained in the step (2) through the following formula, so that the coordinates of the charging pile arrangement points on the broken line segments can be calculated conveniently by using the line segments L.
Wherein j is 1, 2, …, 21. The schematic diagram of the division point is shown in fig. 9.
(5) Simulating that the unmanned aerial vehicle flies from the starting point to the end point along the straight line segment, and then the unmanned aerial vehicle flies by the distance S when flying the ith stopiIs calculated by the formula Si＝iSP(i＝1，2，...，18. Will SiMapping on the segment L, traversing partition (j) (j is 1, 2, …, 21), if there is 1 ≦ k ≦ 20, satisfying
Partition(k)≤Si≤Partition(k+1)
It can be determined that the ith charging pile C is chargedi(xci，yci) On a straight line PkPk+1On and from Pk(xk，yk) A distance of
Dis[Si，Pk]＝Si-Partition(k)
Then charge pile i coordinate Ci(xci，yci) Is calculated by the formula
Wherein a and b are straight lines PkPk+1The equation ax + by + c of (1) is a coefficient term in 0.
The 18 charging piles C can be obtained by cycling through i-1, 2, … and 181(xc1，yc1)，C2(xc2，yc2)，…， C18(xc18，yc18) The coordinates of (a). A schematic diagram of the coordinate points is shown in fig. 10.
(6) According to the time T required for charging the current unmanned aerial vehicle batterycAnd (3) combining the total length SumL of the mission route calculated in the step (2) and the number m of the stay times of the unmanned aerial vehicle on the charging pile calculated in the step (3), utilizing a formula
Tsum＝mTc+SumL/VP
Calculating the total time T required by the unmanned aerial vehicle to inspect the primary linesum。
In the invention, r represents the flight times of the airplane and also represents the serial number of the charging pile, and the place where the airplane stays each time is the place where the charging pile is arranged.
Claims (1)
1. A charging pile layout method for unmanned aerial vehicles flying along mission air lines is characterized by comprising the following steps:
(1) establishing a rectangular coordinate system, placing a task route in a first quadrant of the coordinate system, then setting a series of landmark points from the initial position to the end point of the route, solving the coordinate of each landmark point and connecting adjacent landmark points to form a multi-section broken line from the starting point to the end point, and solving the equation of each section of broken line;
the mission air route of the unmanned aerial vehicle is divided into two situations:
①, when the unmanned plane route can not be expressed by function, the setting of the landmark point on one task route is realized by manually picking the point on the spot, the specific method is that a GPS receiver is used to traverse the whole task route, the GPS coordinate of the point is collected and stored at the place where the point needs to be picked, and a series of landmark points are collected after the task route is traversed, wherein the principle of landmark point collection is as follows:
(a) according to the accuracy E of the GPS usedGPSTo make a minimum interval I for collecting road mark pointsGPS，IGPS＝EGPS；
(b) Starting from the starting point of the mission route, collecting the minimum interval I according to the landmark pointsGPSSequentially collecting landmark points along the task route until the end point of the task route;
(c) after the acquisition of the landmark points is completed, sequentially connecting adjacent landmark points from the starting point of the task route;
after all the landmark points P are collected1，P2，P3，…，PnThen, all line segments P are obtained from the coordinates of each point1P2，P2P3，P3P4，…，Pn-1PnThe linear equation of (a); n is the number of the landmark points;
②, when the mission route of the drone can be expressed by using a function, that is, the mission route is a piecewise function consisting of x ═ f (y) and y ═ f (x), the setting of landmark points is divided into two cases:
in the first case: to pairWhen the expression is y ═ f (x), x ∈ [ a ]1,b1],y∈[c1,d1]Setting delta x as a point taking interval on the mission route, namely a projection interval on an x axis, then
The number of points taken on the route; solving n through a task route equation and a point taking interval1Coordinates P of each landmark point1 1(a1,f(a1))，P2 1(a1+Δx,f(a1+Δx))，P3 1(a1+2Δx,f(a1+2Δx))，…，
From a starting point P1 1To the end point
Connecting two adjacent points with a straight line to form n1-1 connected line segment, solving the linear equation of all line segments;
in the second case: for the expression x ═ f (y), x ∈ [ c ∈ [, [ c ], [ y ]2,d2],y∈[a2,b2]Setting delta y as a point taking interval on the task route, namely a projection interval on a y axis, then
The number of points taken on the route; solving n through a task route equation and a point taking interval2Coordinates P of each landmark point1 2(f(a2),a2)，P2 2(f(a2+Δx),a2+Δx)，P3 2(f(a2+2Δx),a2+2Δx)，…，
From a starting point P1 2To the end point
Connecting two adjacent points with a straight line to form n2-1 connected line segment, solving the linear equation of all line segments;
the total number of the navigation circuit points is n ═ n1+n2；
(2) Sequentially calculating the lengths of all the line segments, and adding the lengths of all the line segments to obtain the total length SumL of all the line segments on the mission air route; wherein, the Length of the ith line segment is Length (i, i + 1); i is more than or equal to 1 and less than or equal to n-1;
(3) according to user-provided parameters of the drone, i.e. cruising speed VpAnd duration TpCalculating the maximum range S of the unmanned planeP：SP＝VPTP(ii) a According to SPCalculating the number m of the unmanned aerial vehicle staying on the mission air line, wherein m is the number of the charging piles required to be arranged:
wherein [ ] is the operator of rounding,% is the operator of modulus;
(4) making a line segment L with the length of SumL, equivalently replacing a plurality of broken line segments obtained in the step (1) with the complete line segment L, then calculating the distance partition (j) between the corresponding positions of n road marking points of adjacent broken line segments on the line segment L and the starting point of L by using the length of each line segment obtained in the step (2) according to the following formula:
wherein j is 1, 2, …, n;
(5) simulating the unmanned aerial vehicle to fly to the terminal point along the straight line segment from the starting point, and assuming that the unmanned aerial vehicle flies according to the maximum range every time, the distance S flown by the unmanned aerial vehicle when the unmanned aerial vehicle stops at the r-th timerIs calculated by the formula Sr＝rSPR is 1, 2, …, m; will SrIs mapped on line segment L throughIf k is more than or equal to 1 and less than or equal to n-1, the condition that the partition (k) is less than or equal to S is metrPart (k +1) is less than or equal to, the r-th charging pile is judged to be on the straight line PkPk+1Up and from the k point Pk(xk,yk) Is Dis [ S ] distancer,Pk]＝Sr-partition (k), then charge pile r coordinate Cr(xcr,ycr) The calculation formula of (2) is as follows:
wherein a and b are straight lines PkPk+1The equation ax + by + c of (a) is a coefficient term in 0;
(6) and (5) repeating the step until the coordinates of the m charging piles are calculated.
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| CN111256702B (en) * | 2020-04-27 | 2020-08-21 | 天津市普迅电力信息技术有限公司 | Unmanned aerial vehicle autonomous inspection method for inspection of power tower |
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